Method for identifying a user entering an autonomous vehicle

ABSTRACT

One variation of a method for identifying a user entering an autonomous vehicle includes: receiving a ride request from the user, the ride request specifying a pickup location; at the autonomous vehicle, autonomously navigating to the pickup location, scanning a field near the autonomous vehicle for a human approaching the autonomous vehicle, and, in response to detecting the human proximal the autonomous vehicle, recording an image of the human; detecting a face of the human in the image; accessing a faceprint characterizing facial features of the user; and, in response to the face of the human detected in the image exhibiting features represented in the faceprint, identifying the human as the user and triggering a door of the autonomous vehicle to unlock for the user.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/632,597, filed on 20 Feb. 2018, which is incorporated in its entiretyby this reference.

TECHNICAL FIELD

This invention relates generally to the field of autonomous vehicles andmore specifically to a new and useful method for identifying a userentering an autonomous vehicle in the field of autonomous vehicles.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a flowchart representation of a method;

FIG. 2 is a flowchart representation of one variation of the method;

FIG. 3 is a flowchart representation of one variation of the method; and

FIG. 4 is a flowchart representation of one variation of the method.

DESCRIPTION OF THE EMBODIMENTS

The following description of embodiments of the invention is notintended to limit the invention to these embodiments but rather toenable a person skilled in the art to make and use this invention.Variations, configurations, implementations, example implementations,and examples described herein are optional and are not exclusive to thevariations, configurations, implementations, example implementations,and examples they describe. The invention described herein can includeany and all permutations of these variations, configurations,implementations, example implementations, and examples.

1. Method

As shown in FIGS. 1 and 3, a method S100 for identifying a user enteringan autonomous vehicle includes: remotely from the autonomous vehicle,receiving a ride request from the user, the ride request specifying apickup location in Block S110; and accessing a voiceprint characterizingspeech of the user in Block S112. The method S100 also includes, at theautonomous vehicle: autonomously navigating to the pickup location inBlock S120; scanning a field near the autonomous vehicle for a humanapproaching the autonomous vehicle in Block S130; in response todetecting the human proximal the autonomous vehicle, outputting aconversational prompt to the human in Block S132; and recording anaudible response of the human in Block S134. The method S100 alsoincludes, in response to the audible response exhibiting characteristicsrepresented in the voiceprint: identifying the human as the user inBlock S140; and triggering a door of the autonomous vehicle to unlockfor the user in Block S142.

The method S100 can further include, in response to the audible responseexhibiting characteristics distinct from characteristics represented inthe voiceprint: identifying the human as other than the user in BlockS150; and serving a second prompt to the human indicating that theautonomous vehicle is reserved for other than the human in Block S152.

2. Applications

Generally, the method S100 can be executed in conjunction with anautonomous vehicle—such as in a rideshare fleet—to automaticallyidentify a rider by her voice as the rider approaches and interacts withthe autonomous vehicle prior to entry. In particular, the autonomousvehicle can implement Blocks of the method S100 to quickly confirm (orotherwise identify) a rider assigned to the autonomous vehicle by hervoice rather than require the rider to use her smartphone as a key, toenter a code into the autonomous vehicle, or otherwise change herbehavior or perform an additional, mental exercise to enter theautonomous vehicle.

Rather, by identifying a rider by her voice, the autonomous vehicle can:achieve a rapid, hands-free, device-free “handshake” with a rider whenthe rider and the autonomous vehicle initially engage at or near therider's specified pickup location. Because a human driver may not bepresent in the autonomous vehicle to monitor humans attempting to enterthe autonomous vehicle, the autonomous vehicle can also gate entry(e.g., by selectively unlocking doors) based on whether the autonomousvehicle has confirmed that a human approaching the autonomous vehicle isthe same user who ordered the autonomous vehicle to its current pickuplocation. Because riders may typically introduce themselves orally whenentering human-piloted rideshare vehicles, the autonomous vehicle canexecute Blocks of the method S100 to integrate with and leverage thisexisting cultural norm for human-piloted rideshare vehicles in order to:identify a rider by her voice when this rider attempts to enter theautonomous vehicle; develop a stronger human-computer relationship withthis rider through oral communications, which may improve rider comfortand acceptance of the autonomous vehicle; and communicate a personalityof the autonomous vehicle to the rider through these audibleinteractions—even before the rider enters the autonomous vehicle.Furthermore, by identifying the rider by her voice rather than throughher smartphone or through face detection in images of the rider recordedby the autonomous vehicle, the autonomous vehicle can execute Blocks ofthe method S100 to preserve the rider's sense of privacy.

The autonomous vehicle can also function as a mobile help desk (or“kiosk”) to assist users assigned to other autonomous vehicles in theautonomous vehicle fleet to find their autonomous vehicles, such as by:identifying a user who has approached the autonomous vehicle by hervoice; matching this user to another pending ride request with anotherautonomous vehicle; communicating to this user that this is not herautonomous vehicle; and communicating to the user where her autonomousvehicle is waiting for her or the estimated time of arrival of herautonomous vehicle at her designated pickup location. Similarly, theautonomous vehicle can execute Blocks of the method S100 to improveaccess to autonomous vehicles for users who are currently without afunctional mobile device, who are less comfortable or capable of usingmobile devices, or who prefer to hail an autonomous vehicle via theautonomous vehicle directly rather than through a mobile device.

For example, a user—who misplaced her mobile device or whose mobiledevice is currently non-operational—may approach the autonomous vehicleparked in a pickup location waiting for its rider and orally engage theautonomous vehicle to request assistance. The autonomous vehicle canidentify the user by her voice (or by her facial features), collect riderequest information from the user via a conversational interaction, andreturn this ride request and the user's identity to a remote dispatcher;and the remote dispatcher can then automatically dispatch anotherautonomous vehicle to this user's location, all without requiring theuser to access her mobile device.

The method S100 is described below as executed by elements within anautonomous vehicle rideshare platform (hereinafter the “platform”), suchas including: an autonomous vehicle configured to autonomously navigatebetween pickup and drop-off locations and to interface with riders(hereinafter “users”); a remote computer system configured to maintainuser profile and voiceprint (and/or faceprint) information; a remotedispatcher or fleet manager configured to assign autonomous vehicles inthe fleet to ride requests from users; and/or a native rideshareapplication through which users may submit ride requests at theirsmartphones or other computing devices. However, Blocks of the methodS100 can be executed by elements of any other type or function withinthe platform.

3. Remote Ride Request

In Block S110, the platform can receive a ride request—specifying apickup location and a destination—from a user. For example, the user canenter this ride request through an instance of the native rideshareapplication executing on her smartphone or other mobile device. Thenative rideshare application can then upload this request to the remotedispatcher, which can then: identify an autonomous vehicle that is bothnearby and available or in the process of completing another routenearby; assign this autonomous vehicle to the user; and dispatch theautonomous vehicle to the pickup location specified in the user's riderequest (or to a nearest mandated pickup location).

4. User Voiceprinting

In Block S112, the platform accesses a voiceprint characterizing speechof the user. Generally, in Block S112, the platform retrieves orgenerates a model (or “voiceprint”) that represents the user's speechpatterns and that the platform can later implement to identify the userapproaching her assigned autonomous vehicle.

In one implementation, the platform generates and stores a voiceprintfor the user during an initial setup period in which the user's profileis first created. For example, when the user first downloads an instanceof the native rideshare application to her mobile device (e.g., asmartphone), the native rideshare application can: initialize a userprofile for the user with user contact and payment information enteredby the user; prompt the user to recite a particular phrase, recite apasscode, or state her name; generate a recording of the user respondingto this prompt; and return this recording and user profile data to theremote computer system. The remote computer system can then: transformthis recording into a voiceprint of the user; finalize the user profile;and store this voiceprint in the user profile.

In one example, the platform generates a name voiceprint thatcharacterizes the user's oral recitation of her own name. In thisexample, during the initial setup period, the native rideshareapplication can: prompt the user to recite her name out loud to themobile device multiple times; record these instances of the userspeaking her name; and either locally generate a voiceprint of the userfrom these audio recordings or upload these recordings to the remotecomputer system for remote processing and transformation into thevoiceprint. Later, an autonomous vehicle assigned to the user canimplement this name voiceprint to identify the user when the userapproaches the autonomous vehicle and orally introduces herself by nameto the autonomous vehicle in order to gain access to the autonomousvehicle, such as described below.

In another example, the platform generates a conversational speechvoiceprint that characterizes the user's speech patterns more generally.In this example, during the initial setup period, the native rideshareapplication can: enable and enforce voice controls for entering usercontact information, rideshare preferences, and/or (certain elements of)payment information for a new user profile; record audible commands andresponses from the user; populate fields in a new user profile based onthese commands and responses; and then either locally generate avoiceprint of the user from these audio recordings or upload theserecordings to the remote computer system for remote processing andtransformation into the voiceprint. In a similar example, the nativerideshare application can: present a phonetic pangram to the user duringsetup of the native rideshare application; prompt the user to recite thephonetic pangram; record the user reciting this phonetic pangram outloud; and then generate a conversational voiceprint for the user fromthis audio. The autonomous vehicle can later implement thisconversational voiceprint to identify the user: when the user approachesthe autonomous vehicle and engages in a brief oral conversation with theautonomous vehicle in order to gain access to the autonomous vehicle;when the user approaches the autonomous vehicle while speaking to acompanion; or when the user approaches the autonomous vehicle whilespeaking on her phone.

The platform can also update the user's voiceprint over time, such aswith audio data recorded by autonomous vehicles in the fleet each timethe user approaches these autonomous vehicles and is positivelyidentified by her voice; or with audio data recorded by the nativerideshare application each time the user enters a ride request.

In another implementation, the platform generates a new voiceprint forthe user for each ride request, such as in order to accommodate forpossible vocal changes over time and/or increase user security. Forexample, the native rideshare application can: record a ride requestentered from the user; and implement the foregoing methods andtechniques to collect an audible response to a prompt from the userresponse to this ride request. The platform can then generate and storea temporary voiceprint for the user based on this audible response, thenidentify the user based on this temporary voiceprint when the userapproaches her assigned autonomous vehicle, and then discard thisvoiceprint. In this example, the native rideshare application can:present a passphrase to the user; prompt the user to recite thepassphrase; record the user reciting the passphrase; and generate atemporary voiceprint of the user based on this recording. Later when theuser approaches her assigned autonomous vehicle, the autonomous vehicleor the native rideshare application can prompt the user to recite thispassphrase to the autonomous vehicle, which the autonomous vehicle canrecord and compare to the user's temporary voiceprint in order toidentify the user.

In another implementation, the autonomous vehicle: is pre-trained with avoice model to identify the user's voice; and instructs the user torecite a specific word or phrase—such as rendered on a display near apassenger door of the autonomous vehicle or presented to the userthrough her smartphone—before entering the autonomous vehicle. Theautonomous vehicle can then identify the user according to herrecitation of this word or phrase.

Alternatively, the platform can access an existing voiceprint of theuser. For example, the user's smartphone may generate and maintain avoiceprint for the user for voice control functionalities; when thenative rideshare application is installed on the smartphone, the nativerideshare application can prompt the user to enable access to thisvoiceprint, and the platform can retrieve a copy or otherwise accessthis voiceprint from the user's smartphone accordingly in Block S112.

However, the platform can access, generate, and/or maintain avoiceprint—of any other type—in any other way in Block S112.

5. Pickup Location

In Block S120, the autonomous vehicle autonomously navigates to thepickup location specified by the user. Generally, in Block S120, theautonomous vehicle implements autonomous navigation techniques toautonomously navigate to the pickup location specified by the user.

6. Human Detection

Upon arriving at this pickup location, the autonomous vehicle cannavigate into a shoulder, into a parking lot, or into a waiting zone andwait—with its doors locked—for the user to arrive and enter theautonomous vehicle. Once stopped at the pickup location, the autonomousvehicle can scan the field around the autonomous vehicle for a humanapproaching the autonomous vehicle in Block S130. In particular, theautonomous vehicle can scan its near field for a human approaching theautonomous vehicle, which may indicate this human's intent to enter theautonomous vehicle and therefore suggest that this human is the user whois assigned to the autonomous vehicle.

In one implementation, upon arriving at the pickup location specified inthe ride request currently assigned to the autonomous vehicle, theautonomous vehicle can collect optical images (e.g., 2D colorphotographic images and/or 3D depth maps) of the field around theautonomous vehicle via a set of optical sensors arranged on theautonomous vehicle. For example, the optical sensors can be arrangedproximal (e.g., adjacent, overheard) doors of the autonomous vehicle andcan be dedicated to detecting approaching humans.

Alternatively, these optical sensors can be arranged on the roof, nose,and/or tail of the autonomous vehicle and can function to both: scan thefield around the autonomous vehicle for an approaching human while theautonomous vehicle awaits arrival of a user; and collect data perceptionand localization data when the autonomous vehicle is in motion. (Forexample, in this implementation, the autonomous vehicle can: record two-or three-dimensional optical scans of the field around the autonomousvehicle via an optical sensor facing outwardly from the autonomousvehicle while waiting for its assigned user at a pickup location;interface with the human according to Blocks of the method S100 when anapproaching human is thus detected in these optical scans; unlock a doorof the autonomous vehicle for the human once identified as theautonomous vehicle's assigned user; receive confirmation to departtoward a destination location specified in the ride request from theuser once the user enters the autonomous vehicle; record scan data ofthe field around the autonomous vehicle through this same set of opticalsensors; elect a sequence of navigational actions based on these scandata; and autonomously execute this sequence of navigational actions inorder to navigate toward the destination location.)

Furthermore, upon detecting a human near the autonomous vehicle, theautonomous vehicle can implement face detection, object tracking, and/orother computer vision techniques to track the human as the humanapproaches the autonomous vehicle. Once the autonomous vehicle detectsthe human now standing within a threshold distance (e.g., one meter) ofa door of the autonomous vehicle and facing the autonomous vehicle, theautonomous vehicle can flag the human as intending to enter theautonomous vehicle and then execute a user identificationroutine—according to Blocks of the method S100 described below—toconfirm that the human is the same user who placed the pending riderequest and who is currently assigned to the autonomous vehicle. (Theautonomous vehicle can additionally or alternatively detect the humannearby based on sensor data from other sensors in the autonomousvehicle, such as infrared, motion, or proximity sensors, etc.)

7. Voice-Based User Identification

In response to detecting the human approaching the autonomous vehicle,the autonomous vehicle can output a conversational prompt to the humanin Block S132 and record the human's audible response in Block S134, asshown in FIGS. 1 and 3. The autonomous vehicle can then identify thehuman as the user in Block S140 in response to the user's responseexhibiting characteristics represented in the voiceprint.

In one implementation, when the autonomous vehicle is assigned to theuser's ride request, the autonomous vehicle accesses the voiceprint fromthe user's profile, such as by downloading and temporarily storing alocal copy of the voiceprint. The autonomous vehicle can then locallycompare a local audio recording to this copy of the voiceprint todetermine whether a human nearby is the user thus assigned to theautonomous vehicle.

In the implementation described above in which the platform generatesand stores name voiceprints characterizing user recitations of their ownnames in Block S112, the autonomous vehicle can initiate a useridentification routine by issuing an audible prompt to the human toidentify herself by name when the human is detected near the autonomousvehicle (e.g., within one meter of and facing a door or trunk of theautonomous vehicle, as described above). For example, the autonomousvehicle can (re)play—through an outwardly-facing speaker on theautonomous vehicle—an audio prompt including, “Hi. Did you request aride with me? If so, can you tell me your name?” In another example inwhich the autonomous vehicle is assigned a name (e.g., by the remotedispatcher or by the user), the autonomous vehicle can play an audioprompt including, “Hi. I'm Enzo. What's your name?” The autonomousvehicle can then implement a local copy of the user's name voiceprint todetermine whether the human currently interacting with the autonomousvehicle is the user assigned to the autonomous vehicle.

Alternatively, in the implementation described above in which theplatform accesses conversational voiceprints characterizing userrecitations of their own names in Block S112, the autonomous vehicle caninitiate a conversation with the user and then implement theconversational voiceprint to determine whether this human is the userbased on words spoken by the human during this interaction.

Yet alternatively, if the autonomous vehicle determines that the humanapproaching the autonomous vehicle is already speaking, such as on herphone or to a companion—and if the user has not opted out of ambientvoice tracking by autonomous vehicles in the fleet—the autonomousvehicle can: record this conversation; and compare these audible data tothe user's voiceprint to determine whether the human is the user withoutinterrupting the human's conversation. If the autonomous vehicle thusconfirms that the human is the user, the autonomous vehicle can unlockthe door(s) of the autonomous vehicle and audibly greet the user by namewhen she arrives at the autonomous vehicle.

In one implementation, the autonomous vehicle records an audio trackwhile interfacing with the human, such as through an exterior-facingmicrophone nearest the detected location of the human. The autonomousvehicle simultaneously implements speaker identification techniqueslocally to compare the audio recording to a voiceprint of the user todetermine whether the human is the user currently assigned to theautonomous vehicle. For example, when the remote dispatcher assigns theautonomous vehicle to the user, the remote dispatcher can upload acurrent voiceprint—stored with the user's profile—to the autonomousvehicle; the autonomous vehicle can later implement speakeridentification techniques to determine whether a segment of an audiosnippet recorded during an interaction with a human standing near a doorof the autonomous vehicle matches this voiceprint. Alternatively, theautonomous vehicle can stream this audio recording to a remote computersystem, and the remote computer system can remotely compare this audiorecording to the voiceprint to determine whether the human is the userassigned to the autonomous vehicle; and the remote computer system canreturn such determination to the autonomous vehicle in (near) real-time.

In one variation in which the autonomous vehicle detects multiple humansstanding near two or more doors of the autonomous vehicle, theautonomous vehicle can implement the foregoing process in parallel foreach human—such as by outputting an audible prompt and recording anaudio signal through a speaker and a microphone, respectively, adjacenteach door of the autonomous vehicle—to determine whether one of thesehumans is the user currently assigned to the autonomous vehicle.

8. Human Voice Identified as User

In Block S142, the autonomous vehicle can unlock a door of theautonomous vehicle for the user upon identifying the human as the userassigned to the autonomous vehicle, as shown in FIGS. 1 and 3.

In one implementation, if the autonomous vehicle (or the remote computersystem) confirms that the human currently interacting with theautonomous vehicle is the user currently assigned to the autonomousvehicle, the autonomous vehicle can: unlock a single door nearest thehuman; confirm that the user has entered the autonomous vehicle whenthis door opens and then closes again; and then begin autonomousnavigation toward a destination location previously specified by theuser. Similarly, in the variation described above in which theautonomous vehicle detects multiple distinct humans near various doorsof the autonomous vehicle, the autonomous vehicle can unlock each ofthese doors once the autonomous vehicle identifies one of these humansas the user.

In another implementation, if the autonomous vehicle identifies a humanstanding near a trunk of the autonomous vehicle as the user, theautonomous vehicle can unlock the trunk and all doors of the autonomousvehicle. Alternatively, if the autonomous vehicle identifies the humanstanding near the trunk of the autonomous vehicle as the user, theautonomous vehicle can; unlock the trunk for the user; track the userwalking toward a particular door of the autonomous vehicle viaexterior-facing sensors integrated into the autonomous vehicle; andselectively unlock this particular door for the user.

Yet alternatively, once the autonomous vehicle (or the remote computersystem) identifies a human near the autonomous vehicle as the user, theautonomous vehicle can unlock all doors and storage compartments of theautonomous vehicle for the user.

8.1 Autonomous Vehicle Departure

The autonomous vehicle can then confirm that the user has entered theautonomous vehicle once at least one door is opened and then closed andcan begin autonomously navigating to the user's specified destinationonce all doors are closed (and once an occupant in the vehicle providesa physical or audible command to begin the trip).

In one implementation, in response to the user entering the autonomousvehicle, the autonomous vehicle can serve a departure prompt to the userto confirm departure toward the destination location specified in theuser's ride request. For example, the autonomous vehicle canoutput—through a speaker inside a cabin of the autonomous vehicle—aprompt to orally confirm departure, such as by replaying an audiorecording reciting, “Ready to go?” The autonomous vehicle can then:monitor audible levels inside the cabin of the vehicle; record a secondaudible response to this departure prompt; detect confirmation ofdeparture in this second audible response (e.g., by interpreting a “yes”or “ready” statement in the second audible response); and identify theuser as a source of this second audible response by confirmingsimilarities between the second audible response and the user'svoiceprint. Then, if the autonomous vehicle thus detects confirmation ofdeparture in the second audible response and identifies the user as thesource of the second audible response, the autonomous vehicle can departtoward the destination location. Therefore, the autonomous vehicle canconfirm both presence of the user in the autonomous vehicle and that theuser is prepared for departure based on a response to the departureprompt output served to occupants of the autonomous vehicle.

Alternatively, the autonomous vehicle can: implement similar methods andtechniques to detect the user—occupying the vehicle—in a video feedrecorded by a camera inside the cabin; confirm that the user is readyfor departure based on an oral command spoken by the user or based onselection of a physical button in the cabin; and then depart toward thedestination location only after both presence and readiness of the userare confirmed.

9. Human Voice Not Identified as User

However, if the autonomous vehicle (or the remote computer system) failsto identify the human (or one of multiple humans) detected near theautonomous vehicle as the user assigned to the autonomous vehicle, theautonomous vehicle (or the remote computer system) can executeadditional processes during the user identification routine to confirmthat the human is not the user, to identify the human as assigned toanother autonomous vehicle, or to identify the human as unknown to theplatform, etc., as shown in FIG. 3. In particular, the autonomousvehicle (or the remote computer system) can identify a human—near theautonomous vehicle—as other than the user currently assigned to theautonomous vehicle if the audible response of the human to theautonomous vehicle exhibits characteristics distinct fromcharacteristics represented in the voiceprint of the user. Theautonomous vehicle (or the remote computer system) can then executeadditional processes to identify the human, such as by expandingcomparison of this audible response to voiceprints of other known userson the platform and/or by comparing an image of the human to faceprintsof known users on the platform.

9.1 Variation: Facial Recognition

In one implementation shown in FIGS. 1, 2, and 4, after failing toverify the identity of human based on the audible response and thevoiceprint of the user, the autonomous vehicle: records an image of thehuman; detects the human in the image; and implements facial recognitiontechniques to determine whether the human exhibits facial features thatsufficiently match a stored faceprint of the user, such as generatedfrom data previously collected by other autonomous vehicles in the fleetwhen occupied by the user or previously collected by the user's mobilecomputing device when entering the ride request or initializing her userprofile.

For example, in response to identifying the human as other than the useror otherwise failing to match the audible response of the human to thevoiceprint of the user, the autonomous vehicle can: record an image ofthe human via an optical sensor facing outwardly from the autonomousvehicle; and upload this image to the remote computer system. The remotecomputer system can then: detect a face of the human in the image;access a stored faceprint characterizing facial features of the user;identify the human as the user if the face of the human detected in theimage exhibits features represented in the faceprint; and thenselectively return a trigger to the autonomous vehicle to unlock thedoor for the user accordingly.

Therefore, in this implementation, the platform can maintain“faceprints” of users and implement these faceprints to identify theircorresponding users in images (e.g., color photographic images) recordedby autonomous vehicles in the fleet. For example, like voiceprintsdescribed above, the platform can access images of the user's facethrough the native rideshare application executing on the user'ssmartphone and then extract features representative of the user's facialstructure from these images to generate a faceprint for the user. Inparticular, during a setup period at the user's mobile device, thenative rideshare application can: initialize a user profile for theuser; record an optical scan (e.g., a two-dimensional optical scan, athree-dimensional point cloud) of the user via an optical sensor (e.g.,a color camera, a projected-light depth sensor) integrated into a mobiledevice associated with the user; and upload user profile data and theoptical scan to the remote computer system. The remote computer systemcan then: transform the optical scan into a faceprint of the user; andstore the faceprint in the user profile.

In another example, the platform can access a faceprint or similarrepresentation from an operating system executing on the user'ssmartphone, such as a faceprint that the operating system implements toautomatically unlock the smartphone when the user's face is detected bythe smartphone. In yet another example, the platform can aggregateimages of the user—recorded by autonomous vehicles in the fleet when theuser approached or occupied these autonomous vehicles in the past—andthen compile these images to generate a faceprint of the user.

However, the platform can access or generate a faceprint for the user inany other way.

Similar to methods and techniques described above, the remote computersystem can upload the faceprint for the user to the autonomous vehiclewhen the user's ride request is assigned to the autonomous vehicle. Whenthe autonomous vehicle arrives at the designated pickup location,detects a human nearby, and fails to identify the human as the userbased on the user's voiceprint and the human's audible response to aprompt, the autonomous vehicle (or the remote computer system) cancompare an image of the human—recorded by a sensor on the autonomousvehicle—to the user's faceprint to determine whether the human is (or issufficiently similar to) the user.

Alternatively, the autonomous vehicle can: default to attempting toidentify the human as the user based on the user's faceprint and animage of the human recorded by the autonomous vehicle; and then executemethods described above to identify the human as the user based on theuser's voiceprint and the human's audible response to a prompt if theautonomous vehicle fails to match a face detected in the image of thehuman to the user's faceprint, as described below.

Additionally or alternatively, the platform can develop and refine afaceprint of the user over time based on data collected by the nativerideshare application executing on the user's mobile device and/or basedon image data collected by autonomous vehicles when interfacing with theuser and then transition from identifying the user based on the user'sspeech to identifying the user based on the user's facial features oncethe platform has developed a sufficiently robust faceprint of the user.For example, the native rideshare application can record atwo-dimensional color image of the user during initial setup or when theuser submits a ride request, and the platform can store thistwo-dimensional color image as an initial faceprint of the user. Later,when the autonomous vehicle arrives at the pickup location, theautonomous vehicle can: record a three-dimensional optical scan of ahuman nearby via an optical sensor (e.g., a LIDAR sensor, and structurelight depth sensor) facing outwardly from the autonomous vehicle;compare the two-dimensional faceprint of the user to thisthree-dimensional optical scan of the human; and match three-dimensionalfeatures in the three-dimensional optical scan to two-dimensionalfeatures in the two-dimensional color image in order to identify thehuman as the user. Then, in response to identifying the human as theuser, the autonomous vehicle (or the remote computer system) can updatethe two-dimensional faceprint of the user to further includethree-dimensional features extracted from the three-dimensional opticalscan.

Therefore, the autonomous vehicle (or the remote computer system) canconfirm that the human is the user if either the face in the image ofthe human matches the user's faceprint or a voice in the audio recordingof an interaction with the human matches the user's voiceprint. However,if the autonomous vehicle (or the remote computer system) fails to matchthe audible or visible characteristics of the human to the voiceprint orthe faceprint of the user, the autonomous vehicle (or the remotecomputer system) can expand a search of faceprints and/or voiceprints ofother known users on the platform to attempt to identify the human.

9.2 Expanded Search for Identity

Additionally or alternatively, if the autonomous vehicle fails toidentify the human based on the user's voiceprint (and/or faceprint),the autonomous vehicle can expand its search to other voiceprints(and/or faceprints) of other users who recently requested rides withautonomous vehicles in the fleet. In particular, the autonomous vehiclecan strategically expand its search for other known users who may matchthe human currently engaging the autonomous vehicle based on thelocation of the autonomous vehicle and the human, a name provided by thehuman to the autonomous vehicle, and/or a current rideshare queue, etc.in order to rapidly identity the human with minimal local or remoteprocessing, as shown in FIGS. 1 and 3.

In one implementation, if the autonomous vehicle fails to identify thehuman based on the user's voiceprint (and/or faceprint), the autonomousvehicle (or the remote computer system) can query the remote dispatcherfor other autonomous vehicles waiting nearby (e.g., within three cityblocks of the autonomous vehicle's current location) for their assignedusers or currently navigating to pickup locations nearby. The platformcan then compile a set of profiles of users associated with pending riderequests near the autonomous vehicle and who may have mistaken theautonomous vehicle for their own assigned autonomous vehicles. Theautonomous vehicle (or the remote computer system) can also: parse aname (e.g., a first name or a first name and a last name) of the humanfrom the audio recording of the autonomous vehicle's recent interactionwith the human; and further filter this list of user profiles to includeother profiles of users with the same or similar (e.g., “sounds like”)name(s). The autonomous vehicle (or the remote computer system) canthen: access a voiceprint stored for each user profile in this filteredset; implement methods and techniques described above to compare thehuman's voice to these other voiceprints; determine that the human is adifferent user assigned to another autonomous vehicle waiting for itsrider (i.e., the human) nearby or en route to collect the human from apickup location nearby if such a match is detected; and provide feedbackor assistance to this human accordingly, as described below.

However, if the autonomous vehicle (or the remote computer system)identifies no such match between the human's voice and voiceprints inthis set, the autonomous vehicle can further expand its search toidentify the user. For example, the autonomous vehicle (or the remotecomputer system) can further expand its search to a corpus of users withthe same or similar name(s) and who previously submitted ride requestswith pickup locations nearby (e.g., within six city blocks) within arecent period of time (e.g., the last month), access voiceprints ofthese users, and repeat the foregoing process to identify the humanbased on a match between the human's voice and one voiceprint in thisexpanded set. The autonomous vehicle (or the remote computer system) cancontinue to expand the search for the identity of the human—based onvoiceprints (and/or faceprints) of known users in the platform—until amatch is found or until the human's voice (or face) has been testedagainst all known users in the platform.

The autonomous vehicle (or the remote computer system or the platformgenerally) can implement the foregoing methods and techniques in (near)real-time during this interaction with the human in order to quicklyidentify the human as the user, identify the human as a user assigned toanother autonomous vehicle for another pending ride request nearby, ornote the human as unknown, such as within seconds of the humanapproaching the autonomous vehicle and/or speaking to the autonomousvehicle.

9.3 Alternative Vehicle-Human Interactions to Identify the Human

If the autonomous vehicle (or the remote computer system) fails to matchthe human to a known user—such as based on voiceprints and/or faceprintsstored for known users in the platform—the autonomous vehicle can outputan audio prompt and/or render a visual prompt on an exterior-facingdisplay that the autonomous vehicle has been unable to identify thehuman but that the human may provide alternate means of identificationin order to access the autonomous vehicle.

For example, if the autonomous vehicle outputs a first audible promptasking the human to identify herself, as described above, and then isunable to identify the human from her response, the autonomous vehiclecan then output a second audible prompt that recites, “I am havingtrouble finding you in my system. I am reserved for Sam. Are you Sam?”If the human then replies orally in the affirmative, the autonomousvehicle can output a third audible prompt that recites:

-   -   “Oh, great! Can you give me the street number of your billing        address or the confirmation code we sent you in the app when you        booked this ride? Alternatively, you can tap your NFC-enabled        phone on the reader above the door.”        Pending a correct response from the human, the autonomous        vehicle can: confirm that the human is the user assigned to the        autonomous vehicle; unlock the door(s) of the autonomous vehicle        for the user; and update a faceprint and/or a voiceprint in the        user's profile based on an image and/or an audio recording of        the user recorded during this interaction.

In another example, after identifying the human as other than the usercurrently assigned to the autonomous vehicle: the remote computer systemcan send a passcode to the user's mobile device, such as in the form ofa text message or application notification; and the autonomous vehiclecan serve a prompt to the user to manually enter the passcode into akeypad arranged on the exterior of the autonomous vehicle.(Alternatively, the native rideshare application can present thispasscode to the user when the user confirms the ride request.) If thehuman enters the correct passcode, then the autonomous vehicle canunlock a door for the human.

However, if the human provides an incorrect response to the secondprompt and the autonomous vehicle (or the remote computer system)remains unable to identify the human, the autonomous vehicle cancommunicate to the human that is it unable to verify the human'sidentity and is therefore unable to permit the human to access thevehicle. The autonomous vehicle can then: serve a visual or audibleprompt to the human to download the native rideshare application inorder to enter a ride request; and/or provide the human a complaintnumber, a phone number for customer service, and a prompt call customerservice for assistance.

10. Human Assigned to Other Autonomous Vehicle

In the foregoing implementations, if the human currently interactingwith the autonomous vehicle provides a name different from that of theuser assigned to the vehicle or if the autonomous vehicle otherwisedetermines that the human's voice does not match the voiceprint for theuser assigned to the autonomous vehicle, the autonomous vehicle can:access pending ride requests specifying pickup locations nearby (e.g.,within three blocks of the autonomous vehicle's current location);access voiceprints for users associated with these other pending riderequests; and compare these voiceprints to an audio recording of thehuman's interaction with the autonomous vehicle to determine whether thehuman is a second user assigned to a second autonomous vehicle waitingnearby or currently en route to a pickup location nearby.

Upon identifying the human as a second user assigned to a secondautonomous vehicle, the autonomous vehicle can provide assistance to thesecond user in locating the second autonomous vehicle currently assignedto her. For example, the autonomous vehicle can access the location ofthe second autonomous vehicle from the remote dispatcher or communicatewith the second autonomous vehicle directly to determine the location ofthe second autonomous vehicle (e.g., absolutely or relative to theautonomous vehicle). If the autonomous vehicle determines that thesecond autonomous vehicle is parked nearby, the autonomous vehicle canoutput an audible and/or visual prompt to the second user indicating thelocation of the second autonomous vehicle and/or identifying features ofthe second autonomous vehicle. In this example, the autonomous vehiclecan output an audible prompt that recites, “Hi Sarah. I'm reserved forSam, but I think your car is waiting on the opposite side of thestreet—it's the blue van.” Alternatively, if the autonomous vehicledetermines that the second autonomous vehicle is still en route to thesecond user's pickup location, the autonomous vehicle can provide theestimated time of arrival of the second autonomous vehicle for thesecond user. In this example, the autonomous vehicle can output anaudible prompt including, “Hi Sarah. I'm reserved for Sam, but your carwill arrive in approximately 45 seconds. It's a blue van and should pullup about 30 feet behind me.”

In a similar example, in response to identifying the human as other thanthe user, the remote computer system can: identify a second ride requestreceived from a second user, currently pending, and designating a secondpickup location proximal the pickup location; access a second voiceprintcharacterizing speech of this second user; and compare the recording ofthe human's audible response at the autonomous vehicle to this secondvoiceprint to determine whether the human is the second user. Then, ifthe audible response of the human exhibits characteristics representedin the second voiceprint, the remote computer system can: identify thehuman as the second user; retrieve a status of a second autonomousvehicle assigned to the second ride request associated with the seconduser; and serve this status to the autonomous vehicle. For example, theremote computer system can access: an estimated time of arrival of thesecond autonomous vehicle to a second pickup location designated in thesecond ride request; a description of the second autonomous vehicle;and/or an address, map, or other description of the second pickuplocation. The autonomous vehicle can then present the status of thesecond autonomous vehicle to the second user, such as by rendering theestimated time of arrival and the description of the second autonomousvehicle on an exterior-facing display arranged on the autonomous vehicleor by outputting an audible message describing the status of the secondautonomous vehicle via an outwardly-facing speaker arranged on theautonomous vehicle. Additionally or alternatively, the remote computersystem can serve the status of the second autonomous vehicle to thesecond user's mobile device, which can then similarly present thesestatus data to the second user.

In the foregoing example, the autonomous vehicle can repeat theforegoing methods and techniques to check the identify of the human atthe autonomous vehicle against stored voiceprints (and/or faceprints) ofeach user in a set of users associated with the current, pending riderequest designating pickup locations near the current location of theautonomous vehicle until a match is detected or until this list of usersis exhausted.

The autonomous vehicle can therefore assist a known user in finding herassigned autonomous vehicle while the autonomous vehicle waits for itsassigned user to arrive, identify herself, and board the autonomousvehicle.

11. Human Identified but not Associated with a Pending Ride Request

In the implementation described above in which the autonomous vehicle(or the remote computer system) identifies the human as a second, knownuser in the platform but for whom a ride request is not currentlypending, the autonomous vehicle can automatically output an audibleprompt and/or render a visual prompt asking the second user if she wouldlike to request a rideshare with another autonomous vehicle in thefleet, such as by outputting an audible prompt that recites, “I don'tsee that you have a ride pending, but I can help you order one. Do youneed assistance?” If the second user responds in the affirmative, theautonomous vehicle can then engage the second user in conversation tocollect information from the second user. For example, the autonomousvehicle can query the second user to orally: confirm the currentlocation of the autonomous vehicle as her desired pickup location orelect an alternative pickup location nearby; and specify herdestination. In this example, the autonomous vehicle can also: audiblyask the second user if she would like to charge the payment methodcurrently linked to her profile (e.g., a credit card) and provideminimal identifying information for this payment method (e.g., anickname or the last four digits of the credit card); compile the seconduser's indicated pickup location, destination, payment method, andidentifying information into a preliminary ride request; andautomatically upload this preliminary ride request to the remotedispatcher for quoting, such as shown in FIG. 3.

In this example, the remote dispatcher can then: scan the autonomousvehicle fleet for a second autonomous vehicle available to collect thesecond user; calculate a cost, an arrival time at the pickup location,and/or an arrival time at the second user's destination; and returnthese data to the autonomous vehicle. The autonomous vehicle can thencommunicate these values to the second user in audible and/or visualformats and prompt the second user to confirm the ride request. Uponaudible confirmation from the second user, the autonomous vehicle canreturn confirmation of the ride request to the remote dispatcher, andthe remote dispatcher can dispatch the second autonomous vehicle to thesecond user's pickup location (e.g., the current location of theautonomous vehicle) accordingly.

In the foregoing example, if the autonomous vehicle is currently in acarpool mode (e.g., the user assigned to the autonomous vehicle haspermitted the autonomous vehicle to pick up and drop off otherpassengers between her designated pickup and drop-off locations), theplatform can consider the autonomous vehicle as an option for the seconduser. Accordingly, the autonomous vehicle can audibly indicate to thesecond user that the autonomous vehicle is currently available forcarpool, indicate a cost of the trip and an estimated arrival time atthe second user's destination should the second user elect this carpooloption, and prompt the second user to either confirm this carpool optionor elect a second, dedicated autonomous vehicle for her trip. If thesecond user audibly confirms this carpool option, the autonomous vehiclecan automatically unlock one or more of its doors and/or its trunk toenable the second user to board the autonomous vehicle while waiting forthe user originally assigned to the autonomous vehicle to arrive.

11.1 Autonomous Vehicle as Rideshare Kiosk when Idle

Similarly, after completing a ride, the autonomous vehicle can hold atthis destination location or navigate to a waiting zone nearby to awaitassignment of a next ride request from the remote dispatch. Whilewaiting for a next ride request, the autonomous vehicle can operate inkiosk mode to enable other patrons to request a ride directly throughthe autonomous vehicle rather than through their mobile devices. Forexample, in response to entry of the user into the vehicle and followingreceipt of confirmation from the user to depart toward a destinationlocation specified in the user's ride request, the autonomous vehiclecan autonomously navigate toward the destination location. Upon arrivalat the destination location and departure of the user from theautonomous vehicle, the autonomous vehicle can autonomously navigatetoward a waiting zone, such as near an area of high pedestrian traffic.While occupying the waiting zone, the autonomous vehicle can: scan thefield near the autonomous vehicle for a second human approaching theautonomous vehicle; output a conversational prompt to the second humanin response to detecting the second human proximal the autonomousvehicle; and recording a second audible response of the human. Theplatform can then: access a set of voiceprints characterizing speech ofa set of users associated with user profiles on an autonomous vehicleride platform associated with the autonomous vehicle; compare featuresin the audible response to the set of voiceprints; and identify thesecond human as a second user associated with a second user profile onthe platform in response to the second audible response exhibitingcharacteristics represented in a second voiceprint—in the set ofvoiceprints—associated with the second user. The autonomous vehicle canthen prompt the second user to confirm a second ride request, such asincluding a payment method, confirming a ride cost, and entering adestination location; and then unlock a door for the second user oncethe second user confirms the second ride request.

However, the platform can implement any other method or technique toenable a known user to enter a ride request for another vehicle throughaudible interactions with the autonomous vehicle, such as while theautonomous vehicle waits for its designated user to arrive.

12. Primary Identification by Facial Recognition

One variation of the method S100 shown in FIGS. 2 and 4 includes:receiving a ride request from the user, the ride request specifying apickup location in Block S110; and accessing a faceprint characterizingfacial features of the user in Block S112. This variation of the methodS100 also includes, at the autonomous vehicle: autonomously navigatingto the pickup location in Block S120; scanning a field near theautonomous vehicle for a human approaching the autonomous vehicle inBlock S130; in response to detecting the human proximal the autonomousvehicle, recording an image of the human in Block S136; and detecting aface of the human in the image in Block S138. This variation of themethod S100 further includes, in response to the face of the humandetected in the image exhibiting features represented in the faceprint:identifying the human as the user in Block S140; and triggering a doorof the autonomous vehicle to unlock for the user in Block S142.

This variation of the method S100 can further include, in response tothe face of the human detected in the image exhibiting characteristicsdistinct from features represented in the faceprint: identifying thehuman as other than the user in Block S150; and serving a second promptto the human indicating that the autonomous vehicle is reserved forother than the human in Block S152.

Generally, in this variation of the method S100, the platform canimplement methods and techniques similar to those described above toidentify a human near the autonomous vehicle as the user assigned to theautonomous vehicle based on similarities between visual characteristicsof the human (e.g., the human's facial features, as detected in an imageof the human recorded by the autonomous vehicle) and features depictedin a stored faceprint of the user.

12.1 Faceprint Failure

Furthermore, as described above, if the platform fails to identify ahuman near the autonomous vehicle based on visual characteristics of thehuman, the autonomous vehicle can transition to implementing methods andtechniques described above to identify the human based on an audibleresponse of the human to a prompt served to the human by the autonomousvehicle, as shown in FIGS. 2 and 4.

For example, in response to the face of the human detected in the imageexhibiting characteristics distinct from features represented in thefaceprint, the platform can identify the human as other than the user.Accordingly, the autonomous vehicle can: serve a conversational promptto the human; record an audible response of the human to this prompt;access a voiceprint characterizing speech of the user; identify thehuman as the user in response to the audible response exhibitingcharacteristics represented in the voiceprint; and then trigger a doorof the autonomous vehicle to unlock for the user accordingly.

Alternatively, in response to identifying the human as other than theuser, the platform can: identify a second ride request received from asecond user and designating a second pickup location proximal the pickuplocation; access a second faceprint characterizing facial features ofthe second user; and identify the human as the second user if the faceof the human detected in the image exhibits features represented in thesecond faceprint. Then, in response to identifying the human as thesecond user, the platform can retrieve a status of a second autonomousvehicle assigned to the second ride request; and the autonomous vehiclecan render this status of the second autonomous vehicle on a displayarranged on the autonomous vehicle and facing the second user, such asdescribed above.

Additionally or alternatively, in response to identifying the human asother than the user, the platform can: access a set of faceprintscharacterizing facial features of a set of users associated with userprofiles on the platform; compare features of the face of the humandepicted in the image to the set of faceprints; identify the human as asecond user associated with a second user profile on the autonomousvehicle ride platform if the face of the human detected in the imageexhibits characteristics represented in a second faceprint—in the set offaceprints—associated with the second user. In response to identifyingthe human as the second user, the autonomous vehicle can prompt thesecond user to initiate a second ride request; and the platform candispatch a second autonomous vehicle to the autonomous vehicle's currentlocation to collect the second user according to the second riderequest.

13. Wireless Pairing

In one variation, after arriving at a pickup location and identifyingthe human as the user currently assigned to the autonomous vehicle, theautonomous vehicle can: prompt the user to connect (or “pair”) hermobile device with the autonomous vehicle via a local ad hoc wirelessnetwork; and record a unique wireless identifier of the user's mobiledevice once connected to the autonomous vehicle. The platform can thenstore this unique wireless identifier of the user's mobile device in theuser's profile.

When the same user submits a second ride request in the future and whena second autonomous vehicle is assigned to this second ride request, theplatform can upload a copy of this unique wireless identifier of theuser's mobile device to the second autonomous vehicle. Upon arriving atthe pickup location specified in this second ride request, the secondautonomous vehicle can: automatically query devices nearby for thisunique wireless identifier; automatically connect to the user's mobiledevice if detected (such as within one meter of the second autonomousvehicle); and automatically unlock doors of the autonomous vehicle forthe user upon connecting to the user's mobile device.

In this variation, the second autonomous vehicle can simultaneouslyexecute Blocks of the method S100 described above to detect a humannearby, to identify this human as the user based on a stored voiceprintand/or faceprint of the user, and to unlock a door of the secondautonomous vehicle accordingly—such as if the second autonomous vehicleis unable to connect to a device with this unique wireless identifier ofthe user's mobile device—thereby enabling the user to access the secondautonomous vehicle even if the user's mobile device is powered down orif wireless services at the user's mobile device are disabled.

14. Concierge Services

In another variation, the platform can execute Blocks of the method S100to enable a first user to enter a ride request on behalf of a seconduser and to enable the second user to access an autonomous vehicleassigned to this ride request.

In one example, the first user enters a ride request on behalf of thesecond user (e.g., a parent, a business associate, a client, or friendof the first user) and chaperones the second user to the autonomousvehicle—assigned to the ride request—upon arrival of the autonomousvehicle at a specified pickup location. The autonomous vehicle thenimplements methods and techniques described above to identify the firstuser near the autonomous vehicle and to unlock a door of the autonomousvehicle accordingly; the second user may then enter the autonomousvehicle and trigger the autonomous vehicle to depart toward a specifieddestination location, such as by selecting a physical button inside theautonomous vehicle.

In another example in which the first user enters a ride request onbehalf of the second user but in which the second user approaches theautonomous vehicle—assigned to the ride request—with the first user, theautonomous vehicle and the platform can implement methods and techniquesdescribed above to: detect the second user approaching the autonomousvehicle; capture an image of the second user via a camera or otheroptical sensor arranged on the autonomous vehicle; and transmit amessage—with the image of the second user—to the first user's mobiledevice with a prompt to confirm the second user's access to theautonomous vehicle. If the first user confirms the second user's accessto the autonomous vehicle, the autonomous vehicle can unlock the doorfor the second user and enable the second user to initiate the ride, asdescribed above.

In the foregoing example, if the first user intends to ride with thesecond user but is not yet present at the autonomous vehicle, the firstuser may respond to the message from the platform by confirming thesecond user's access to the autonomous vehicle but elect to withholdride start controls from the second user. Accordingly, the autonomousvehicle can unlock a door for the second user to enable the second userto enter the autonomous vehicle. However, the autonomous vehicle canenable departure controls only once the autonomous vehicle detects thatthe first user is near and/or has entered the autonomous vehicle, suchas according to methods and techniques described above.

Furthermore, when access to the autonomous vehicle for the second useris confirmed by the first user, either by the presence of the first userat the autonomous vehicle or remotely via the first user's mobiledevice, the platform can automatically initialize a user profile for thesecond user, such as including generating a voiceprint and/or afaceprint for the second user based on data collected by the autonomousvehicle when the second user approaches and/or occupies the autonomousvehicle during the ride. The platform can also link the second user'sprofile to the first user's profile on the platform.

The platform can then: enable the second user to submit ride requestsvia autonomous vehicles operating in the kiosk mode, as described above;and source payment for these rides from the first user's profile. Forexample, by submitting an order for a first ride for his mother, thefirst user may enable a link to his mother on the platform and enablepayment for his mother's rides on the platform via the first user'sstored payment method. Accordingly, the platform can enable the seconduser to enter ride requests directly through autonomous vehicles—andwithout requiring that the second user have her own mobile device orinitialize her own user profile on the platform—and invoice the firstuser for his mother's rides accordingly.

In the foregoing example, the platform can also prompt the first user toconfirm payment for each individual ride request later entered by thesecond user, such as via the first user's mobile device. Alternatively,the native rideshare application executing on the first user's mobiledevice can prompt the first user to confirm a maximum quantity of ridesrequested by the second user or a maximum monetary value of ridesrequested by the second user for which payment from the first user'sstored payment method is authorized.

The systems and methods described herein can be embodied and/orimplemented at least in part as a machine configured to receive acomputer-readable medium storing computer-readable instructions. Theinstructions can be executed by computer-executable componentsintegrated with the application, applet, host, server, network, website,communication service, communication interface,hardware/firmware/software elements of a human annotator computer ormobile device, wristband, smartphone, or any suitable combinationthereof. Other systems and methods of the embodiment can be embodiedand/or implemented at least in part as a machine configured to receive acomputer-readable medium storing computer-readable instructions. Theinstructions can be executed by computer-executable componentsintegrated by computer-executable components integrated with apparatusesand networks of the type described above. The computer-readable mediumcan be stored on any suitable computer readable media such as RAMs,ROMs, flash memory, EEPROMs, optical devices (CD or DVD), hard drives,floppy drives, or any suitable device. The computer-executable componentcan be a processor but any suitable dedicated hardware device can(alternatively or additionally) execute the instructions.

As a person skilled in the art will recognize from the previous detaileddescription and from the figures and claims, modifications and changescan be made to the embodiments of the invention without departing fromthe scope of this invention as defined in the following claims.

We claim:
 1. A method for authorizing access to an autonomous vehicle,the method comprising: autonomously navigating the autonomous vehicle toa pickup location associated with a ride request; detecting a humanapproaching the autonomous vehicle; determining when the human is withina threshold distance of the autonomous vehicle; initiating a voicedialogue with the human with an audible prompt in response todetermining that the human is within the threshold distance of theautonomous vehicle; receiving an audible response of the human to theaudible prompt of the voice dialogue; determining whether the human isassociated with the ride request based on the audible response of thehuman; and permitting access of the human to the autonomous vehicle whenthe human is identified as associated with the ride request.
 2. Themethod of claim 1, wherein when the human is unable to be identified asassociated with the ride request based on the audible response of thehuman, the method further comprising: prompting the human to enter apasscode associated with the ride request; and permitting access of thehuman to the autonomous vehicle when the human is identified asassociated with the ride request based on the passcode.
 3. The method ofclaim 1, wherein when the human is unable to be identified as associatedwith the ride request based on the audible response of the human, themethod further comprising: recording an image of the human; detecting aface of the human in the image; determining whether the human isassociated with the ride request based on the face detected in theimage; and permitting access of the human to the autonomous vehicle whenthe human is identified as associated with the ride request based on theface detected in the image.
 4. The method of claim 1, the method furthercomprising: determining that the human is not associated with the riderequest based on the audible response of the human; and communicating tothe human that the autonomous vehicle is reserved for another human. 5.The method of claim 4, further comprising: identifying the human as auser of a rideshare platform by matching the audible response of thehuman to a user profile identified from a set of user profilesassociated with the rideshare platform; and prompting the human toinitiate a second ride request, a second autonomous vehicle beingdispatched to the pickup location according to the second ride request.6. The method of claim 4, further comprising: identifying the human asbeing associated with a second ride request based on the audibleresponse of the human; obtaining a status of a second autonomous vehicleassigned to the second ride request; and communicating the status of thesecond autonomous vehicle to the human.
 7. The method of claim 6,wherein the status of the second autonomous vehicle comprises anestimated time of arrival of the second autonomous vehicle according tothe second ride request and a description of the second autonomousvehicle.
 8. The method of claim 1, wherein the ride request is via amobile device, the audible response of the human including a passphrase,the passphrase communicated to the user via the mobile device prior toinitiation of the voice dialogue.
 9. The method of claim 1, wherein theride request is associated with a user profile, the user profileincluding a voiceprint characterizing speech of a user, wherein theaudible response of the human in the voice dialogue is compared to thevoiceprint, the human being identified as associated with the riderequest when characteristics of the audible response match thevoiceprint.
 10. The method of claim 1, further comprising: in responseto the human entering the autonomous vehicle, serving a departure promptto the human to confirm departure toward a destination locationspecified in the ride request; receiving a second audible response tothe departure prompt; and autonomously navigating the autonomous vehicletoward the destination location.
 11. One or more tangible non-transitorycomputer-readable storage media storing computer-executable instructionsfor performing a computer process on a computing system, the computerprocess comprising: receiving an audible response of a human to aprompt, the prompt initiated in response determining that the human iswithin a threshold distance of an autonomous vehicle; accessing a set ofone or more voiceprints associated with a set of one or more userprofiles of a rideshare platform, the autonomous vehicle associated withthe rideshare platform; determining whether the human is authorized foraccess to the autonomous vehicle by comparing features in the audibleresponse of the human to the set of one or more voiceprints; determiningwhether the human is associated with a ride request; and permittingaccess of the human to the autonomous vehicle when the human isidentified as authorized and associated with the ride request.
 12. Theone or more tangible non-transitory computer-readable storage media ofclaim 11, wherein the human is associated with the ride requestfollowing a prompt communicated to the human to initiate the riderequest.
 13. The one or more tangible non-transitory computer-readablestorage media of claim 11, wherein the set of one or more voiceprintsaccessed includes a voiceprint associated with the ride request.
 14. Theone or more tangible non-transitory computer-readable storage media ofclaim 11, wherein the prompt is an audible prompt.
 15. A method forauthorizing access to an autonomous vehicle, the method comprising:scanning a field near the autonomous vehicle for a human approaching theautonomous vehicle; determining that the human is within a thresholddistance of the autonomous vehicle; capturing biometric information ofthe human when the human is within the threshold distance of theautonomous vehicle; determining whether the human is authorized toaccess the autonomous vehicle by comparing the biometric information ofthe human to a set of biometric profiles associated with users;prompting the human to initiate a ride request when the human isidentified as authorized based on a match of the biometric informationto one of the set of biometric profiles; and permitting access of thehuman to the autonomous vehicle when the ride request is initiated. 16.The method of claim 15, wherein the biometric information includes atleast one of a face of the human detected in an image or an audibleresponse of the human.
 17. The method of claim 15, wherein capturingbiometric information of the human comprises recording athree-dimensional optical scan of the human via an optical sensor, theset of biometric profiles including a set of faceprints, the faceprintscomprising two-dimensional optical scans of the users, the match of thebiometric information to one of the set of biometric profiles includinga match between three-dimensional features in the three-dimensionaloptical scan to two-dimensional features in the two-dimensional opticalscan.
 18. The method of claim 15, wherein the ride request is initiatedusing a mobile device associated with the human.
 19. The method of claim15, wherein the biometric information of the human is captured byinitiating a voice dialogue with the human with an audible prompt whenthe human is within the threshold distance of the autonomous vehicle.20. The method of claim 15, wherein the biometric information of thehuman is captured by capturing an image of the human.